期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 23, 期 5, 页码 1827-1839出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2015.2388956
关键词
Complementary filtering; depth from focus; linear-parameter-varying (LPV) observers; monocular vision systems; positioning and tracking; sensor fusion
资金
- Fundacao para a Ciencia e a Tecnologia (FCT) through Mechanical Engineering Institute/Associated Laboratory for Energy, Transports and Aeronautics [PEst-OE/EME/LA0022, PTDC/EEA-CRO/111197/2009]
- Institute for Systems and Robotics
- FCT [SFRH/BD/46860/2008]
- Fundação para a Ciência e a Tecnologia [PTDC/EEA-CRO/111197/2009, SFRH/BD/46860/2008] Funding Source: FCT
In this paper, new methodologies for the estimation of the depth of a target with unknown dimensions, based on depth from focus strategies, are proposed. The measurements are extracted from images acquired with a single camera, resorting to the minimization of a new functional, deeply rooted on the optical characteristics of the lens system. The analysis and synthesis of two complementary filters and a linear parametrically varying observer are discussed in detail. These estimators use information present on the boundary of the target, which is assumed to be on a plane parallel to the camera sensor, and whose dimensions are considered to remain constant over time. This paper complements a single pan and tilt camera-based indoor positioning and tracking system. To assess the performance of the proposed solutions, a series of indoor experimental tests for a range of operation of up to ten meters, which included tracking and localizing a small unmanned aerial vehicle with unknown dimensions, was carried out. Depth estimates with accuracies on the order of a few centimeters were obtained.
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